Add asset kitchen_supplies/utensils/3e8da6ebf3f25525b57b15ac696631f9

.gitattributes

@@ -8655,3 +8655,4 @@ dataset/kitchen_supplies/utensils/39fd8b64d75a54b2a24e2f37a9d1d1b7/affordance/me
 dataset/kitchen_supplies/utensils/3d22a7e38f1851f2a224649bc3a5acd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/3d7fabe1126459ce9e02b22507e49d98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/3e8da6ebf3f25525b57b15ac696631f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/3e8da6ebf3f25525b57b15ac696631f9/affordance/affordance_annot.json

@@ -0,0 +1,126 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray rim from the side to lift and carry the tray",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the rim to pull or reposition the tray on a surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the rim to stabilize the tray while loading or unloading items",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a raised edge",
+                "help retain items on the tray",
+                "offer a gripping boundary",
+                "protect contents from sliding out",
+                "define the tray perimeter"
+            ],
+            "semantic_description": "Raised pentagonal wooden rim with a medium orange-brown color, matte smooth hard finish, visible wood grain, and a narrow beveled border running around the tray edge.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray base from underneath to support and lift the tray",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "use a broad parallel gripper on the base area to pick up the empty tray",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "support placed items",
+                "provide a flat holding surface",
+                "distribute load across the tray",
+                "form the main structure"
+            ],
+            "semantic_description": "Flat pentagonal wooden base panel in light warm brown with a matte smooth hard surface, subtle wood-grain markings, and a broad central area forming the tray interior and underside.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9566450715065002,
+                    "position": [
+                        0.13326304242946208,
+                        -0.2510313982493244,
+                        -0.004258343135006726
+                    ],
+                    "orientation": {
+                        "w": 0.41307560191527004,
+                        "xyz": [
+                            -0.5695939054611008,
+                            0.405571680472975,
+                            0.583474885459721
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.9531764984130859,
+                    "position": [
+                        0.12362968758679926,
+                        -0.2533272797591053,
+                        -0.004337326274253428
+                    ],
+                    "orientation": {
+                        "w": 0.563815215389336,
+                        "xyz": [
+                            -0.4349756979902284,
+                            -0.5461027394186875,
+                            -0.44122595464545833
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9449480175971985,
+                    "position": [
+                        0.1301853416953236,
+                        -0.24904237635200843,
+                        -0.006002403606544249
+                    ],
+                    "orientation": {
+                        "w": 0.578345223852803,
+                        "xyz": [
+                            -0.41324839141090147,
+                            -0.55481426412839,
+                            -0.4323467374256765
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9396618008613586,
+                    "position": [
+                        0.16122222528792918,
+                        -0.23570351250236854,
+                        -0.003968951525166631
+                    ],
+                    "orientation": {
+                        "w": 0.6359025705805442,
+                        "xyz": [
+                            -0.31546235540770245,
+                            -0.6262208644522854,
+                            -0.3224265063147145
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/3e8da6ebf3f25525b57b15ac696631f9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5feafa03b4af012a47f7cb1f1f540e22ad333eb6e335cd90155fc8d70ab80c7
+size 2098944